Running the Simulation

How to run the simulation environment

You can now use the following command to start the environment (use these commands within your workspace):

roslaunch robot_description spawn.launch

If all goes well you will see L1Br inside the middle of the warehouse.

How to run the robot control

If you want to move the robot through the warehouse, open a new terminal and use the following command:

roslaunch robot_control control.launch

To move the tray open another terminal and use the command below with "data: 1" to go up and "data: 0" to go down:

rostopic pub -1 /my_robot/joint1_position_controller/command std_msgs/Float64 "data: 1"

How to run the Rviz

To use sensors like camera and optical sensor we created a shortcut through Rviz:

roslaunch robot_description rviz.launch

Session

The session is for you to initialize the robot, the control and the rviz simultaneously and to initialize it is simple, just start the open_robot.sh file as we see below.

cd ~/catkin_warehouse/src/Warehouse_Gazebo/robot_description/session/
./open_robot.sh